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Set view and projection matrices from camera and frustum parameters.

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This commit is contained in:
yunfeibai
2016-06-16 11:48:37 -07:00
parent 95feb8f530
commit 1329f265c8
2 changed files with 81 additions and 0 deletions
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79
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1,6 +1,7 @@
#include "PhysicsClientC_API.h"
#include "PhysicsClientSharedMemory.h"
#include "Bullet3Common/b3Scalar.h"
#include "Bullet3Common/b3Vector3.h"
#include <string.h>
#include "SharedMemoryCommands.h"
@@ -766,6 +767,84 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHa
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3])
{
b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
b3Vector3 center = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
b3Vector3 up = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]);
b3Vector3 f = (center - eye).normalized();
b3Vector3 u = up.normalized();
b3Vector3 s = (f.cross(u)).normalized();
u = s.cross(f);
float viewMatrix[16];
viewMatrix[0*4+0] = s.x;
viewMatrix[1*4+0] = s.y;
viewMatrix[2*4+0] = s.z;
viewMatrix[0*4+1] = u.x;
viewMatrix[1*4+1] = u.y;
viewMatrix[2*4+1] = u.z;
viewMatrix[0*4+2] =-f.x;
viewMatrix[1*4+2] =-f.y;
viewMatrix[2*4+2] =-f.z;
viewMatrix[0*4+3] = 0.f;
viewMatrix[1*4+3] = 0.f;
viewMatrix[2*4+3] = 0.f;
viewMatrix[3*4+0] = -s.dot(eye);
viewMatrix[3*4+1] = -u.dot(eye);
viewMatrix[3*4+2] = f.dot(eye);
viewMatrix[3*4+3] = 1.f;
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
for (int i=0;i<16;i++)
{
command->m_requestPixelDataArguments.m_viewMatrix[i] = viewMatrix[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float left, float right, float bottom, float top, float nearVal, float farVal)
{
float frustum[16];
frustum[0*4+0] = (float(2) * nearVal) / (right - left);
frustum[0*4+1] = float(0);
frustum[0*4+2] = float(0);
frustum[0*4+3] = float(0);
frustum[1*4+0] = float(0);
frustum[1*4+1] = (float(2) * nearVal) / (top - bottom);
frustum[1*4+2] = float(0);
frustum[1*4+3] = float(0);
frustum[2*4+0] = (right + left) / (right - left);
frustum[2*4+1] = (top + bottom) / (top - bottom);
frustum[2*4+2] = -(farVal + nearVal) / (farVal - nearVal);
frustum[2*4+3] = float(-1);
frustum[3*4+0] = float(0);
frustum[3*4+1] = float(0);
frustum[3*4+2] = -(float(2) * farVal * nearVal) / (farVal - nearVal);
frustum[3*4+3] = float(0);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
for (int i=0;i<16;i++)
{
command->m_requestPixelDataArguments.m_projectionMatrix[i] = frustum[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height )
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -70,6 +70,8 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]);
void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal);
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);